/*
*  Copyright 2018, Sebastian Pütz
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*  1. Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*
*  2. Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*
*  3. Neither the name of the copyright holder nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*
*  abstract_planner.h
*
*  author: Sebastian Pütz <spuetz@uni-osnabrueck.de>
*
*/

#ifndef MBF_ABSTRACT_CORE__ABSTRACT_PLANNER_H_
#define MBF_ABSTRACT_CORE__ABSTRACT_PLANNER_H_

#include <vector>
#include <string>
#include <stdint.h>
#include <boost/shared_ptr.hpp>
#include <geometry_msgs/PoseStamped.h>

namespace mbf_abstract_core
{

class AbstractPlanner
{

public:
    typedef boost::shared_ptr<::mbf_abstract_core::AbstractPlanner> Ptr;

    /**
     * @brief Destructor
     */
    virtual ~AbstractPlanner() {};

    /** 给定一个目标姿态，计算一个计划
     * @brief Given a goal pose in the world, compute a plan
     * @param start The start pose
     * @param goal The goal pose
     * @param tolerance If the goal is obstructed,
     *        how many meters the planner can relax the constraint in x and y before failing
     *        如果目标受阻，计划者在失败前可以放松x和y的约束多少米
     * @param plan The plan... filled by the planner
     * @param cost The cost for the the plan
     * @param message Optional more detailed outcome as a string
     * @return Result code as described on GetPath action result:
     *         SUCCESS         = 0
     *         1..9 are reserved as plugin specific non-error results
     *         FAILURE         = 50  # Unspecified failure, only used for old, non-mfb_core based plugins
     *         CANCELED        = 51  取消了
     *         INVALID_START   = 52  无效的开始
     *         INVALID_GOAL    = 53  无效的目标
     *         NO_PATH_FOUND   = 54  找不到路径
     *         PAT_EXCEEDED    = 55  超时
     *         EMPTY_PATH      = 56  空的路径
     *         TF_ERROR        = 57  TF错误
     *         NOT_INITIALIZED = 58  没有初始化
     *         INVALID_PLUGIN  = 59  无效的插件
     *         INTERNAL_ERROR  = 60  内部错误
     *         71..99 are reserved as plugin specific errors
     */
    virtual uint32_t makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal,
                              double tolerance, std::vector<geometry_msgs::PoseStamped> &plan, double &cost,
                              std::string &message) = 0;

    /**
     * @brief Requests the planner to cancel, e.g. if it takes too much time.
     * @return True if a cancel has been successfully requested, false if not implemented.
     */
    virtual bool cancel() = 0;

protected:
    /**
     * @brief Constructor
     */
    AbstractPlanner() {};
};
} /* namespace mbf_abstract_core */

#endif /* MBF_ABSTRACT_CORE__ABSTRACT_PLANNER_H_ */
